CN102696168B - Electrical actuator - Google Patents
Electrical actuator Download PDFInfo
- Publication number
- CN102696168B CN102696168B CN201080053796.7A CN201080053796A CN102696168B CN 102696168 B CN102696168 B CN 102696168B CN 201080053796 A CN201080053796 A CN 201080053796A CN 102696168 B CN102696168 B CN 102696168B
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- CN
- China
- Prior art keywords
- electric actuator
- housing
- sensor
- rotation sensor
- driving shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2031—Actuator casings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2043—Screw mechanisms driving an oscillating lever, e.g. lever with perpendicular pivoting axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2081—Parallel arrangement of drive motor to screw axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
- Y10T74/18664—Shaft moves through rotary drive means
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Transmission Devices (AREA)
Abstract
An electrical actuator configured in such a manner that a rotation sensor is protected from the external environment and that the electrical actuator is provided with a position detection mechanism, is inexpensive, and is versatile. An electrically driven actuator is provided with a ball screw mechanism (8) which converts the rotational motion of an electric motor (3) into the rectilinear motion of a drive shaft (7) in the axial direction thereof. An opening (21) is provided to a housing (2), and a sensor case (22) consisting of a synthetic resin is mounted to the opening (21) so as to close the opening (21). A rotation sensor (9) is disposed in a recess (27) in the sensor case (22) and is resin-molded. A pivoting link (13) which engages with a pin (12) protruding from the drive shaft (7) is provided so as to be able to perform a pendulum motion in association with the rectilinear motion of the drive shaft (7). A magnet (18) is mounted to an end of a rotating shaft (17) which serves as the base point of the pendulum motion. The rotation sensor (9) faces the magnet (18) with a predetermined air gap therebetween and detects the position of the drive shaft (7).
Description
Technical field
The present invention relates to dispose the electric actuator of ball screw framework, this ball screw framework is in the motor of general industry and in the drive part of motor vehicles, boats and ships etc., and the present invention relates more specifically to have position detecting function and for rotatablely moving of electro-motor being converted to by ball screw framework to the straight-line electric actuator of driving shaft.
Background technology
At the electric actuator for various types of drive parts, conventionally gear mechanism (for example, trapezoidal thread endless screw apparatus or rack and pinion mechanism) is used and acted on the device that rotatablely moving of electro-motor is converted to axial linear movement.These movement conversion mechanisms relate to sliding contacting part and therefore relate to power loss, and therefore must cause the size of electro-motor to increase and power consumption increase.Therefore, ball screw framework is widely used as more effective actuator.
For example, in the relatively little boats and ships that have by oil-engine driven screw rod, by switch jaw clutch select to advance gear or retreat gear by the cable that is connected to the joystick being operated by operator, realize the operation that the screw rod direction of rotation between direction of advance and direction of retreat changes.But, develop the electric actuator for switching jaw clutch for saving labour in recent years.
In this case, need electric actuator accurately detect the position of jaw clutch in the time switching the direction of advance of boats and ships and direction of retreat and switch and carry out handover operation.For example, can expect such method, in the method, by sensor gear, the anglec of rotation will be sent to potentiometer according to the stroke of movable axis, to obtain the stroke of movable axis by the absolute position of detecting movable axis.But, gear size or gear stage that this stroke at movable axis need to increase the gear ratio of sensor gear and therefore need to increase sensor gear while increasing, and this can cause the size of electric actuator to increase.In addition,, due to backlash or the pitch error of sensor gear, the anglec of rotation precision being detected by potentiometer probably may reduce.In addition, when being used in for example heating due to motor when potentiometer and thering is the position of inside of the electric actuator of high ambient temperature, probably can not obtain high measurement accuracy owing to producing null offset.On the other hand, in the time that potentiometer is installed in the outside of electric actuator, can under the environment of normal temperature, use potentiometer.But, in this case, because potentiometer can be subject to the pollution such as seawater, fuel, being therefore necessary to have watertight or oily close structure or thering is independently the electromagnetic structure of shielding, this can increase the manufacturing cost of electric actuator.
The known electric actuator as shown in Figure 5 100 that can address these problems.Electric actuator 100 comprises housing 101 and is arranged on the electro-motor 102 in housing 101.
Housing 101 comprises: enclosure body 101A; Lid member 101B, it is installed on the end face of enclosure body 101A; And tabular motor support 101C.Motor chamber 101a and threads of lead screw axle chamber 101b are formed in enclosure body 101A, and electro-motor 102 is arranged in motor chamber 101a.Electro-motor 102 is secured on motor support 101C.Motor support 101C be mounted to by the outer ring of ball bearing 114 be folded in the motor chamber 101a of the upper and inaccessible enclosure body 101A of enclosure body 101A and threads of lead screw axle chamber 101b both.
The rotating shaft 102a of electro-motor 102 is outstanding from motor support 101C, and the first gear 103 is press fit into securely on the end of rotating shaft 102 and can not be rotated with respect to rotating shaft 102a.The second gear 105 of resin material is installed in the mode rotating freely on the major axis 104 being anchored on motor support 101C and both engage with the first gear 103 and the 3rd gear 106.The 3rd gear 106 of resin material connects on the end that is installed to threads of lead screw axle 107 and can not relatively rotate with respect to this threads of lead screw axle 107 by sawtooth.The left side of threads of lead screw axle 107 is formed with pin thread groove 107a and its right side to be supported by ball bearing 114 with respect to the rotatable mode of enclosure body 101A.
Threads of lead screw axle 107 is through barrel nuts 115.Nut 115 be formed with the negative thread groove 115a relative with pin thread groove 107a interior week.Thereby a large amount of balls 116 are rollably contained in the spirality channel being formed by pin thread groove 107a and negative thread groove 115a and form ball screw framework.Nut 115 is maintained in threads of lead screw axle chamber 101b, this nut can be moved axially but can not rotate with respect to enclosure body 101A.Ball screw framework and tubular movable axis 117 form driving mechanism.
The left-hand end of threads of lead screw axle 107 is inserted in the blind hole 117a being formed in movable axis 117.The right-hand end of movable axis 117 is affixed to this nut integrally to move with this nut by coaxial cooperation in nut and by locking.Movable axis 117 is supported by lining 118, and this lining 118 can move axially with respect to enclosure body 101A.For the hole 117b that is connected to link component (not shown) be formed on movable axis 117 from the outstanding end of enclosure body 101A.
Fig. 6 shows the schematic diagram of the internal structure of electro-motor 102, and Fig. 7 is the profile that VII-VII along the line intercepts.As shown in these drawings, it is upper that toroidal magnet MG is secured to rotating shaft 102a, and rotor 102d is installed on this rotating shaft 102a.Toroidal magnet MG separates with the semi-annular half MGs, the MGn that are arranged on rotating shaft 102a both sides place.Semi-annular half MGs has the S utmost point in its periphery, and semi-annular half MGn has the N utmost point in its periphery.The first and second transducer SA, SB are installed on the inwall of motor shell 102c, are mutually offset 90 ° around the axis of rotating shaft 102a.
The stroke of movable axis 117 is based on being determined as follows: the rotation amount of the rotating shaft 102a of electro-motor 102; The gear ratio of gear 103,105 and 106; And the helical pitch of ball screw framework.Because gear ratio and helical pitch are given values, if therefore rotation amount can accurately be measured, so just can detect the position of jaw clutch (not shown).That is to say, can find, when the waveform phase of transducer SB is during in advance in the waveform phase of transducer SA, toroidal magnet MG is (CW) rotation along clockwise direction.On the contrary, can find, in the time that the waveform phase of transducer SB lags behind the waveform phase of this transducer SA, toroidal magnet MG is (CCW) rotation in the counterclockwise direction.Therefore, likely, based on the output signal of transducer SA and SB, control device ECU can accurately obtain stroke and the direction of motion (for example, seeing following patent documentation 1) of movable axis 117.
Prior art document
Patent documentation
Patent documentation 1: Japanese laid-open patent communique No.2008-274971
Summary of the invention
The technical problem to be solved in the present invention
In the electric actuator 100 of prior art, owing to being arranged on according to transducer SA, the SB of the rotation output pulse signal of electro-motor 102 in the housing 102c of electro-motor 102, and owing to providing a kind of for based on determine the stroke of movable axis 117 and the control device ECU of direction from the output of transducer SA, SB, therefore can and improve the reliability as the electro-motor of system from external environment condition detecting sensor SA, SB.
But, due to structure and Technology Need special knowledge and design in the housing 102c for transducer SA, SB being arranged on to electro-motor 102, therefore be necessary to use to there is custom-designed electro-motor self, and therefore reduce the availability of electro-motor.In addition, there is the problem of the manufacturing cost that increases actuator, because can not use general electric motor in the various application that need different performance.
Therefore, the object of the present invention is to provide a kind of electric actuator, this electric actuator disposes can protect rotation sensor to avoid external environment condition and can be with the position detecting mechanism of low cost fabrication.
The means of technical solution problem
In order to realize object of the present invention, according to a first aspect of the invention, provide a kind of electric actuator, this electric actuator comprises: housing, be installed to the electro-motor on described housing, reducing gear, described reducing gear is for being delivered to ball screw framework by the rotary power of described electro-motor, and described ball screw framework is suitable for rotatablely moving of the described electro-motor via described reducing gear transmission to be converted to the axial linear movement of driving shaft, and rotation sensor, described rotation sensor is for detection of the position of described driving shaft, described electric actuator is characterised in that, described ball screw framework comprises threads of lead screw axle and nut, described threads of lead screw axle and driving shaft form one, described threads of lead screw axle is connected to described electro-motor and is supported on described housing, described threads of lead screw axle can be moved axially but can not rotate with respect to described housing, described nut is extrapolated on described threads of lead screw axle by many balls and is supported to make described nut to rotate but can not move axially with respect to described housing by the rolling bearing being installed on described housing, be provided with swing connecting bar, described swing connecting bar, in the outstanding pivotable on the pin on described driving shaft that is arranged on, makes described swing connecting bar carry out the pendulum linking with the described rectilinear motion of described driving shaft and moves, and on one end of pivotal axis, magnet is installed, described pivotal axis forms the datum mark of described pendulum motion, and detect the position of described driving shaft by the described rotation sensor relatively arranging with predetermined air gap and described magnet.
According to a first aspect of the invention, because described electric actuator comprises: reducing gear, described reducing gear is for being delivered to ball screw framework by the rotary power of described electro-motor, and described ball screw framework is suitable for rotatablely moving of the described electro-motor via described reducing gear transmission to be converted to the axial linear movement of driving shaft, and rotation sensor, described rotation sensor is for detection of the position of described driving shaft, described electric actuator is characterised in that, described ball screw framework comprises threads of lead screw axle and nut, described threads of lead screw axle and driving shaft form one, described threads of lead screw axle is connected to described electro-motor and is supported on described housing, described threads of lead screw axle can be moved axially but can not rotate with respect to described housing, described nut is extrapolated on described threads of lead screw axle by many balls and is supported to make described nut to rotate but can not move axially with respect to described housing by the rolling bearing being installed on described housing, be provided with swing connecting bar, described swing connecting bar, in the outstanding pivotable on the pin on described driving shaft that is arranged on, makes described swing connecting bar carry out the pendulum linking with the described rectilinear motion of described driving shaft and moves, and on one end of pivotal axis, magnet is installed, described pivotal axis forms the datum mark of described pendulum motion, and detect the position of described driving shaft by the described rotation sensor relatively arranging with predetermined air gap and described magnet, therefore the multiduty electric actuator of such position detecting mechanism can be provided, and this position detecting mechanism can protect rotation sensor to avoid external environment condition and can be with low cost fabrication.
Preferably, as second aspect limits, the Sensor box that nonmagnetic substance forms is installed on described housing and described rotation sensor is arranged on described Sensor box; Measure the detection angles (pendulum angle) of described swing connecting bar by described Sensor box.This makes to protect rotation sensor and associated components thereof to avoid internal environment, and not splashed by lubricating grease or any dirt invade impact.
Also preferably, as the third aspect limits, in described Sensor box, form through hole at the position relative with described magnet, and utilize the inaccessible described Sensor box of the tabular wall being formed by nonmagnetic substance; The detection angles of described swing connecting bar is measured across described tabular wall by described rotation sensor.This makes easily to regulate the air gap between rotation sensor and magnet.
Also preferably, as fourth aspect limits, in described housing, form opening, and described Sensor box is installed on described housing, makes the inaccessible described opening of described Sensor box.Installation of swing connecting bar is become easily for this and assembly operation becomes simple.
Also preferably, as the 5th aspect limits, one end of described pivotal axis is supported by the bearing being installed on described housing, and the other end of described pivotal axis is received and is bearing in the cylindrical of inner side formation of described Sensor box.This makes stably to be supported this pivotal axis at the two ends of this pivotal axis and to be prevented that by this hole iron powder adsorption in dirt is to magnet by hole and bearing, and therefore improves the reliability of actuator.
Preferably, as the 6th aspect limits, in described Sensor box, form groove, described rotation sensor is arranged in described groove and by resin mold and is embedded in described groove.This makes to protect rotation sensor and associated components thereof avoid external environment condition and therefore it are applied to protection.
Also preferably, as the 7th aspect limits, described rotation sensor is formed by semiconductor transducer, in described semiconductor transducer, is integrated with magnetic sensor and signal processing circuit and is combined with the function for detection of absolute angle.This makes accuracy of detection that can stable for extended periods of time and improves reliability, in the case of the vibration that causes during the harsh operation conditions of vehicle or impact, is even also like this.
Preferably, as eight aspect limits, obtain with analog signal and two kinds of forms of digital signal from the voltage of described rotation sensor output.This makes to select arbitrarily digital signal or analog signal according to system, and therefore increases the system degree of freedom.
Also preferably, as the 9th aspect limits, described Sensor box is formed by thermoplastic resin injection mo(u)lding.This makes it possible to the Sensor box that manufactures original formation labyrinth with low, and this can not have any impact to the sensitivity of rotation sensor.
Also preferably, as the tenth aspect limits, described swing connecting bar comprises first connecting rod member and second connecting rod member, described first connecting rod member pivotable on the pin being positioned on described driving shaft, and described second connecting rod member is connected to described first connecting rod member by pivotal pin.In this structure, swing connecting bar can prevent driving shaft rotation, and therefore carries out oscillating motion and can not affect the axial motion of driving shaft, and therefore more compact electric actuator can be provided.
Effect of the present invention
According to electric actuator of the present invention, because described electric actuator comprises: this electric actuator comprises: housing, be installed to the electro-motor on described housing, reducing gear, described reducing gear is for being delivered to ball screw framework by the rotary power of described electro-motor, and described ball screw framework is suitable for rotatablely moving of the described electro-motor via described reducing gear transmission to be converted to the axial linear movement of driving shaft, and rotation sensor, described rotation sensor is for detection of the position of described driving shaft, described electric actuator is characterised in that, described ball screw framework comprises threads of lead screw axle and nut, described threads of lead screw axle and driving shaft form one, described threads of lead screw axle is connected to described electro-motor and is supported on described housing, described threads of lead screw axle can be moved axially but can not rotate with respect to described housing, described nut is extrapolated on described threads of lead screw axle by many balls and is supported to make described nut to rotate but can not move axially with respect to described housing by the rolling bearing being installed on described housing, be provided with swing connecting bar, described swing connecting bar, in the outstanding pivotable on the pin on described driving shaft that is arranged on, makes described swing connecting bar carry out the pendulum linking with the described rectilinear motion of described driving shaft and moves, and on one end of pivotal axis, magnet is installed, described pivotal axis forms the datum mark of described pendulum motion, and detect the position of described driving shaft by the described rotation sensor relatively arranging with predetermined air gap and described magnet, therefore the electric actuator that is provided with such position detecting mechanism can be provided, and this position detecting mechanism can protect rotation sensor to avoid external environment condition and can be with low cost fabrication.
Brief description of the drawings
Fig. 1 shows the longitudinal sectional view of a preferred implementation of electric actuator of the present invention;
Fig. 2 shows the longitudinal sectional view of the ball screw framework of the electric actuator of Fig. 1;
Fig. 3 is the profile intercepting along the line III-III of Fig. 1;
Fig. 4 shows the front view of the Sensor box of the electric actuator of Fig. 1;
Fig. 5 shows the longitudinal sectional view of the electric actuator of prior art;
Fig. 6 shows the schematic diagram of the electric actuator of Fig. 5; And
Fig. 7 is the profile intercepting along the line VII-VII of Fig. 6.
Embodiment
Being used for implementing a kind of pattern of the present invention is a kind of electric actuator, and described electric actuator comprises: this electric actuator comprises: housing, be installed to the electro-motor on described housing, reducing gear, described reducing gear is for being delivered to ball screw framework by the rotary power of described electro-motor, and described ball screw framework is suitable for rotatablely moving of the described electro-motor via described reducing gear transmission to be converted to the axial linear movement of driving shaft, and rotation sensor, described rotation sensor is for detection of the position of described driving shaft, described electric actuator is characterised in that, described ball screw framework comprises threads of lead screw axle and nut, described threads of lead screw axle and driving shaft form one, described threads of lead screw axle is connected to described electro-motor and is supported on described housing, described threads of lead screw axle can be moved axially but can not rotate with respect to described housing, described nut is extrapolated on described threads of lead screw axle by many balls and is supported to make described nut to rotate but can not move axially with respect to described housing by the rolling bearing being installed on described housing, be provided with swing connecting bar, described swing connecting bar, in the outstanding pivotable on the pin on described driving shaft that is arranged on, makes described swing connecting bar carry out the pendulum linking with the described rectilinear motion of described driving shaft and moves, and on one end of pivotal axis, magnet is installed, described pivotal axis forms the datum mark of described pendulum motion, and detect the position of described driving shaft by the described rotation sensor relatively arranging with predetermined air gap and described magnet.
Execution mode
To the preferred embodiment of the present invention be described at hereinafter with reference accompanying drawing.
Fig. 1 shows the longitudinal sectional view of a preferred implementation of electric actuator of the present invention; Fig. 2 shows the longitudinal sectional view of the ball screw framework of the electric actuator of Fig. 1; Fig. 3 is the profile intercepting along the line III-III of Fig. 1; And Fig. 4 shows the front view of the Sensor box of the electric actuator of Fig. 1.
Electric actuator 1 comprises: housing 2; Be arranged on the electro-motor 3 on described housing 2; Reducing gear 6, described reducing gear comprises a pair of spur gear 4,5 for the rotary power of electro-motor 3 being delivered to ball screw framework 8, and described ball screw framework 8 is suitable for rotatablely moving of the electro-motor transmitting via reducing gear 63 to be converted to the axial linear movement of driving shaft; And rotation sensor 9(Fig. 3), described rotation sensor is for detection of the position of driving shaft 7.
Housing 2 comprises with the first housing 2a and is attached to the second housing 2b of end of the first housing 2a.Electro-motor 3 is arranged in the first housing 2a and is secured on plate-like motor support 10.Motor support 10 is installed on housing 2, makes inaccessible this first housing 2a of this motor support and the second housing 2b, and the outer ring of ball bearing 11 is assembled in motor support 10.The nut 24 of the rotatably mounted ball screw framework 8 of ball bearing 11, as described below.
The motor drive shaft 3a of electro-motor 3 is outstanding from bracket 10, and less spur gear 4 is installed on the end of motor drive shaft 3a and can not rotates relative to each other.Larger spur gear 5 is secured on the nut 24 that forms ball screw framework 8, and engages with less spur gear 4.
Driving shaft 7 is accommodated in the second housing 2b.Swing connecting bar 13 is pivotally attached on pin 12, and this pin 12 is secured on driving shaft 7.Swing connecting bar 13 comprises first connecting rod member 14 and second connecting rod member 16, and one end of this second connecting rod member 16 is connected to first connecting rod member 14 to form pendulum mechanism by pivotal pin 15.This swing connecting bar 13 prevents that driving shaft 7 from rotating and make swing connecting bar 13 carry out pendulum motion and can not interfere the axial motion of driving shaft 7.Therefore, a kind of electric actuator 1 of compactness may be provided.
The other end of second connecting rod 16 is connected to pivotal axis 17, and this pivotal axis forms datum mark, and magnet 18 is installed on one end of pivotal axis 17.It is upper that slide bushing 19 and oil seal 20 are installed to the second housing 2b, for for example, with respect to the second housing 2b supporting driving shaft 7 and prevent that foreign matter (, rainwater or dust) from invading the second housing 2b inside slidably.
According to the present invention, opening 21 is formed in the second housing 2b, and Sensor box 22 to be installed to the second housing 2b upper, make the inaccessible opening 21 of this Sensor box.This makes to install, and swing connecting bar becomes easily and assembly operation is simple.This Sensor box is formed by the material of the accuracy of detection that does not affect rotation sensor 9, described material be for example thermoplastic synthetic resin (for example, PA(polyamide) 66 etc.) or nonmagnetic substance (for example, aluminium alloy, austenitic stainless steel (JIS SUS 304 classes) etc.).Sensor box preferably forms by thermoplastic injection moulding.This can be with the low Sensor box that manufactures original formation complicated structure.
As shown in Figure 2, ball screw framework 8 comprises: threads of lead screw axle 23, and this threads of lead screw axle 23 is formed with helical thread groove 23a in its periphery; Nut 24, this nut is formed with the helical thread groove 24a relative with helical thread groove 23a on week therein; And a large amount of balls 25, these balls are rollably contained in the spirality channel being formed by pin thread groove 23a and negative thread groove 24a.Larger spur gear 5 is press fit into the outer peripheral face of nut 24, is assemblied in the periphery that ball bearing 11 on the first housing 2a and motor support 10 is also mounted to nut 24 and is located to can not move axially by locating snap ring 26.
Refer again to Fig. 1, in the time that electro-motor 3 activated, driving power is passed to the nut 24 of ball screw framework 8 by reducing gear 6, and therefore threads of lead screw axle 23 rectilinear motion in axial direction together with driving shaft 7.Link component 14,16 all swings and limits this straight-line scope according to the rectilinear motion of driving shaft 7.During this period, pivotal axis 17 rotation in the preset range of detection angles (, pendulum angle).That is to say, any position in the linear motion range of driving shaft 7, by utilizing rotation sensor 9(will be explained below) measure detection angles, position that can direct-detection driving shaft 7.
As shown in Figure 3 and Figure 4, rotation sensor 9 is arranged in Sensor box 22.That is to say, rotation sensor 9 is arranged in the keyhole groove 27 forming in Sensor box 22, and this Sensor box is installed on the second housing 2b by fastening bolt 29.Be rotatably supported on the second housing 2b for the pivotal axis 17 of assembling second connecting rod member 16 by roller needle bearing 28 upper, and magnet 18 is secured on the end of pivotal axis 17.Rotation sensor 9 is configured to predetermined air gap relative with magnet 18.
Keyhole groove 27 comprises rounded portions 27a and semicircular part 27b.Magnet 18 and rotation sensor 9 center are separately configured to corresponding with the rounded portions 27a center of keyhole groove 27.Extending beyond this semicircular part 27b for the power supply of rotation sensor 9 and the electric wire of output 30 from rounded portions 27a and extend to outside control appliance (not shown) from sensor base 9a.Preferably, obtained with analog signal and two kinds of forms of digital signal from the Voltage-output of rotation sensor 9, this is because can select arbitrarily digital signal or analog signal according to system.Although what illustrate is keyhole groove 27, can adopt any other structure, for example ellipse or rectangular configuration, as long as easily arrange the center of rotation sensor 9.
As previously mentioned, rotation sensor 9 is arranged in groove 27 and by resin mold and is embedded into wherein.This makes to make rotation sensor 9 and associated components and external environment condition thereof completely cut off and therefore protect them, and such electric actuator 1 is also provided, and this electric actuator 1 disposes the position detecting mechanism with low manufacturing cost and wide in range purposes.Because groove 27 is formed as not penetrating the inwall of this Sensor box 22, therefore can protect rotation sensor 9 and associated components thereof to avoid internal environment, do not exist for example lubricating grease to splash or the impact of any dirt infiltration.Although not shown, can in Sensor box 22, form through hole, any tabular wall for example, forming by nonmagnetic substance (, synthetic resin) afterwards carrys out inaccessible this through hole.This makes easily to regulate the air gap between rotation sensor 9 and magnet 18.
As previously mentioned, one end of pivotal axis 17 is supported by the bearing 28 being arranged on the second housing 2b, and the other end of pivotal axis 17 is received and is bearing in the cylindrical 22a of the inner side that is formed at Sensor box 22.Therefore this this pivotal axis 17 that makes to lead also improves assembling operation performance, and stably supports this pivotal axis 17 by the hole 22a at these pivotal axis 17 two ends places and bearing 28.In addition, may prevent that iron powder adsorption in pollutant is to magnet 18 by hole 22a, and therefore improve the reliability of actuator.
Although can adopt contactless Hall IC as rotation sensor 9, but according to the present invention, this rotation sensor 9 is formed by semiconductor transducer, in this semiconductor transducer, is integrated with magnetic sensor and signal processing circuit and is combined with the function for detection of absolute angle.This makes the accuracy of detection of possibility stable for extended periods of time and improves reliability, in the time may causing vibration during the harsh operation conditions at vehicle or impact, is even also like this.
With reference to preferred embodiment having described the present invention.Obviously, those skilled in the art will expect numerous modifications and variations after reading and understanding aforementioned detailed description.The present invention ought to be comprised whole these variations and amendment by explanation, as long as these variations and amendment fall into the scope of appended claims and equivalent thereof.
Industrial applicability
Electric actuator of the present invention can be applied to use in the electro-motor used in general industry, automobile, boats and ships etc., there is position detecting function and dispose ball screw framework, will convert any electric actuator of linear movement of driving shaft to from the rotation of electro-motor via ball screw framework.
Description of reference numerals
1 electric actuator
2 housings
2a the first housing
2b the second housing
3 electro-motors
3a motor drive shaft
4 less spur gears
5 larger spur gears
6 reducing gears
7 driving shafts
8 ball screw frameworks
9 rotation sensors
9a sensor base
10 motor supports
11 ball bearings
12 pins
13 swing connecting bar
14 first connecting rod members
15 pivotal pins
16 second connecting rod members
17 pivotal axis
18 magnets
19 slide bushings
20 oil seals
21 openings
22 Sensor boxs
22a cylindrical
23 threads of lead screw axles
23a, 24a thread groove
24 nuts
25 balls
26 locating snap rings
27 grooves
27a rounded portions
27b semicircular part
28 roller needle bearings
29 fastening bolts
30 electric wires
100 electric actuators
101 housings
101A enclosure body
101B covers member
101C electro-motor bracket
101a motor chamber
101b threads of lead screw chamber
102 electro-motors
102a rotating shaft
102c motor shell
102d rotor
103 first gears
104 major axis
105 second gears
106 the 3rd gears
107 threads of lead screw axles
107a pin thread groove
114 ball bearings
115 nuts
115a negative thread groove
116 balls
117 movable axises
117a blind hole
117b hole
118 linings
MG toroidal magnet
MGs, MGn half ring portion
SA first sensor
SB the second transducer
Claims (10)
1. an electric actuator, described electric actuator comprises:
Housing;
Be installed to the electro-motor on described housing;
Reducing gear, described reducing gear is for being delivered to ball screw framework by the rotary power of described electro-motor, and described ball screw framework is suitable for rotatablely moving of the described electro-motor via described reducing gear transmission to be converted to the axial linear movement of driving shaft; And
Rotation sensor, described rotation sensor is for detection of the position of described driving shaft, and described electric actuator is characterised in that,
Described ball screw framework comprises threads of lead screw axle and nut, described threads of lead screw axle and driving shaft form one, described threads of lead screw axle is connected to described electro-motor and is supported on described housing, described threads of lead screw axle can be moved axially but can not rotate with respect to described housing, described nut is extrapolated on described threads of lead screw axle by many balls and is supported to make described nut to rotate but can not move axially with respect to described housing by the rolling bearing being installed on described housing;
Be provided with swing connecting bar, described swing connecting bar, in the outstanding pivotable on the pin on described driving shaft that is arranged on, makes described swing connecting bar carry out the pendulum linking with the described rectilinear motion of described driving shaft and moves; And
On one end of pivotal axis, magnet is installed, described pivotal axis forms the datum mark of described pendulum motion, and detects the position of described driving shaft by the described rotation sensor relatively arranging with predetermined air gap and described magnet.
2. electric actuator according to claim 1, wherein, the Sensor box that nonmagnetic substance forms is installed on described housing and described rotation sensor is arranged on described Sensor box; Measure the detection angles of described swing connecting bar by described Sensor box.
3. electric actuator according to claim 2 wherein, forms through hole at the position relative with described magnet in described Sensor box, and utilizes the inaccessible described Sensor box of the tabular wall being formed by nonmagnetic substance; The detection angles of described swing connecting bar is measured across described tabular wall by described rotation sensor.
4. according to the electric actuator described in claim 2 or 3, wherein, in described housing, form opening, and described Sensor box is installed on described housing, makes the inaccessible described opening of described Sensor box.
5. according to the electric actuator described in claim 2 or 3, wherein, one end of described pivotal axis is supported by the bearing being installed on described housing, and the other end of described pivotal axis is received and is bearing in the cylindrical of inner side formation of described Sensor box.
6. according to the electric actuator described in claim 2 or 3, wherein, in described Sensor box, form groove, described rotation sensor is arranged in described groove and by resin mold and is embedded in described groove.
7. according to the electric actuator described in any one in claims 1 to 3, wherein, described rotation sensor is formed by semiconductor transducer, in described semiconductor transducer, is integrated with magnetic sensor and signal processing circuit and is combined with the function for detection of absolute angle.
8. electric actuator according to claim 7, wherein, obtains with analog signal and two kinds of forms of digital signal from the voltage of described rotation sensor output.
9. according to the electric actuator described in claim 2 or 3, wherein, described Sensor box is formed by thermoplastic resin injection mo(u)lding.
10. electric actuator according to claim 1, wherein, described swing connecting bar comprises first connecting rod member and second connecting rod member, described first connecting rod member pivotable on the pin being positioned on described driving shaft, and described second connecting rod member is connected to described first connecting rod member by pivotal pin.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009268344A JP5417132B2 (en) | 2009-11-26 | 2009-11-26 | Electric actuator |
| JP2009-268344 | 2009-11-26 | ||
| PCT/JP2010/071103 WO2011065470A1 (en) | 2009-11-26 | 2010-11-26 | Electrical actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102696168A CN102696168A (en) | 2012-09-26 |
| CN102696168B true CN102696168B (en) | 2014-10-29 |
Family
ID=44066574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080053796.7A Expired - Fee Related CN102696168B (en) | 2009-11-26 | 2010-11-26 | Electrical actuator |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US8650977B2 (en) |
| JP (1) | JP5417132B2 (en) |
| CN (1) | CN102696168B (en) |
| DE (1) | DE112010004590T5 (en) |
| WO (1) | WO2011065470A1 (en) |
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| US9835236B2 (en) * | 2011-11-21 | 2017-12-05 | Kongsberg Automotive Ab | Linear actuator assembly |
| JP2013143824A (en) * | 2012-01-11 | 2013-07-22 | Smc Corp | Electric actuator |
| JP5855547B2 (en) * | 2012-08-27 | 2016-02-09 | Ntn株式会社 | Electric linear actuator |
| GB2520703A (en) * | 2013-11-28 | 2015-06-03 | Flowinn Shanghai Ind Co Ltd | Linear travel structure of electrical operating device |
| JP6214384B2 (en) * | 2013-12-19 | 2017-10-18 | Ntn株式会社 | Electric actuator |
| KR101579886B1 (en) * | 2014-06-02 | 2015-12-24 | 기마로보 주식회사 | A valve motor device for an ejection molding apparatus |
| KR102319204B1 (en) * | 2014-12-29 | 2021-10-29 | 엘지이노텍 주식회사 | Motor and Clutch actuator having the same |
| KR101724575B1 (en) * | 2015-09-15 | 2017-04-10 | 엘지이노텍 주식회사 | Steping Motor |
| US10215264B2 (en) * | 2016-01-11 | 2019-02-26 | The Boeing Company | Linear actuator system with circumferentially and axially adjustable end stop assembly |
| JP6696811B2 (en) | 2016-03-30 | 2020-05-20 | Ntn株式会社 | Sensor target, movable unit including the target, and electric actuator |
| US11152840B2 (en) | 2016-03-30 | 2021-10-19 | Ntn Corporation | Electric actuator |
| JP6838935B2 (en) * | 2016-10-31 | 2021-03-03 | Ntn株式会社 | Electric actuator |
| DE102016223733A1 (en) * | 2016-11-30 | 2018-05-30 | Aktiebolaget Skf | Assembly with at least one housing part and at least one sensor and method |
| FR3061315B1 (en) | 2016-12-27 | 2019-01-25 | Thales | TRAINING DEVICE |
| TWM540215U (en) * | 2017-01-13 | 2017-04-21 | Timotion Technology Co Ltd | Reciprocal linear pushing rod |
| EP3580473B1 (en) * | 2017-02-13 | 2021-08-18 | Linak A/S | Linear actuator |
| CN109572655B (en) * | 2017-09-29 | 2022-09-20 | 株式会社万都 | Actuator of electronic brake system |
| KR102425546B1 (en) * | 2017-09-29 | 2022-07-29 | 주식회사 만도 | Actuator of Electric brake system |
| JP7240150B2 (en) * | 2017-11-27 | 2023-03-15 | Ntn株式会社 | electric actuator |
| JP7105557B2 (en) * | 2017-11-27 | 2022-07-25 | Ntn株式会社 | electric actuator |
| WO2019103159A1 (en) * | 2017-11-27 | 2019-05-31 | Ntn株式会社 | Electric actuator |
| CN109915559A (en) * | 2017-12-13 | 2019-06-21 | 中国科学院沈阳自动化研究所 | A kind of short underwater electric linear cylinder mechanism |
| DE102018123039A1 (en) * | 2018-09-19 | 2020-03-19 | Fte Automotive Gmbh | Electrical clutch actuator with a one-piece housing |
| DE102018123045A1 (en) * | 2018-09-19 | 2020-03-19 | Fte Automotive Gmbh | Electric clutch actuator with gearbox bearing plate |
| JP7166216B2 (en) * | 2019-04-17 | 2022-11-07 | Thk株式会社 | Screw device with preload detection |
| US11375807B2 (en) * | 2019-08-05 | 2022-07-05 | Cmech (Guangzhou) Ltd. | Lifting cabinet |
| DE102019134460A1 (en) * | 2019-12-16 | 2021-06-17 | Fte Automotive Gmbh | Clutch actuator and method for controlling a clutch actuator |
| CN111605408B (en) * | 2020-05-13 | 2024-01-02 | 江苏首智新能源技术有限公司 | Gear system control method for electric automobile driving system |
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- 2010-11-26 DE DE112010004590T patent/DE112010004590T5/en not_active Withdrawn
- 2010-11-26 CN CN201080053796.7A patent/CN102696168B/en not_active Expired - Fee Related
- 2010-11-26 WO PCT/JP2010/071103 patent/WO2011065470A1/en active Application Filing
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| CN1357698A (en) * | 2000-12-05 | 2002-07-10 | Smc株式会社 | Actuator |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20120227524A1 (en) | 2012-09-13 |
| US8650977B2 (en) | 2014-02-18 |
| JP2011114921A (en) | 2011-06-09 |
| DE112010004590T5 (en) | 2013-01-24 |
| CN102696168A (en) | 2012-09-26 |
| WO2011065470A1 (en) | 2011-06-03 |
| JP5417132B2 (en) | 2014-02-12 |
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